Simulacija avtonomnega mobilnega robota z diferencialnim pogonom

Hrvatin, Matej (author), Vrabič, Rok (mentor), Butala, Peter (co-mentor)

V delu je predstavljena simulacija avtonomnega mobilnega robota z diferencialnim pogonom v simulatorju robotov. Pri tem je poudarek na vodenju robota s sledenjem črti. Postopek gradnje modela v izbranem simulatorju je prikazan na primeru šolskega robota LakosBot. Namen modela robota je razvoj krmilnih programov robota. Za ta namen je razvit vtičnik simulatorja, ki omogoča prenosljivost programske kode med robotom in simulatorjem. Model robota je eksperimentalno preverjen in predstavljen na primeru sledenja črti.

• Language: Slovenian
• Keywords: avtonomni mobilni robot, diferencialni pogon, sledilec črte, simulacija, krmiljenje, model
• Work type: Bachelor thesis/paper
• Organization: FS - Faculty of Mechanical Engineering
• Year: 2017
• PID: 20.500.12556/RUL-98861
• Publication date in RUL: 09.12.2017

Secondary language

• Language: English
• Title: Simulation of an autonomous differential drive mobile robot

Abstract

In this thesis, we present the simulation of an autonomous mobile robot with a differential drive in a robot simulator. The focus is on navigating the robot in line following. The process of building the model in the simulator is shown on the example of the educational robot LakosBot. The purpose of this robot model is the development of the robot's control programmes. For this purpose, a simulator plug-in was developed, which allows for a transference of code between the robot and the simulator. The model is experimentally validated and demonstrated on the example of line following.

• Keywords: autonomous mobile robot, differential drive, line follower, simulation, control, model